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fix bug in orientation filtering #4840

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merged 2 commits into from
Jan 10, 2025

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mikeferguson
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Basic Info

Info Please fill out this column
Ticket(s) this addresses N/A
Primary OS tested on Ubuntu
Robotic platform tested on Turtlebot sim
Does this PR contain AI generated software? No

Description of contribution in a few bullet points

Some global planners output all zeros for orientation, however the plan is in the global frame. When transforming to the local frame, the orientation is no longer zero. Instead of comparing to zero, we simply check if all the orientations in the middle of the plan are equal.


For Maintainers:

  • Check that any new parameters added are updated in docs.nav2.org
  • Check that any significant change is added to the migration guide
  • Check that any new features OR changes to existing behaviors are reflected in the tuning guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page
  • If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

some global planners output all zeros for orientation, however
the plan is in the global frame. when transforming to the local
frame, the orientation is no longer zero. Instead of comparing
to zero, we simply check if all the orientations in the middle
of the plan are equal

Signed-off-by: Michael Ferguson <mfergs7@gmail.com>
Signed-off-by: Michael Ferguson <mfergs7@gmail.com>
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codecov bot commented Jan 10, 2025

Codecov Report

All modified and coverable lines are covered by tests ✅

Files with missing lines Coverage Δ
...v2_graceful_controller/src/graceful_controller.cpp 89.69% <100.00%> (ø)

@SteveMacenski SteveMacenski merged commit 1684cb9 into ros-navigation:main Jan 10, 2025
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CihatAltiparmak pushed a commit to CihatAltiparmak/navigation2 that referenced this pull request Jan 10, 2025
* fix bug in orientation filtering

some global planners output all zeros for orientation, however
the plan is in the global frame. when transforming to the local
frame, the orientation is no longer zero. Instead of comparing
to zero, we simply check if all the orientations in the middle
of the plan are equal

Signed-off-by: Michael Ferguson <mfergs7@gmail.com>

* account for floating point error

Signed-off-by: Michael Ferguson <mfergs7@gmail.com>

---------

Signed-off-by: Michael Ferguson <mfergs7@gmail.com>
Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>
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2 participants